version: 66.04
glider: 113
mission: 4
dive: 207
start: 10 22 108 11 31 52
data:
$ID,113
$MISSION,4
$DIVE,207
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25799.447
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,112558,6641.869,-6022.071,32,2.9,51,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.9
$GPS2,113057,6641.843,-6022.010,9,1.8,9,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,0.108
$KALMAN_X,22689.3,45.1,79.4,-151680.8,225.6
$KALMAN_Y,3950.4,-1347.4,742.9,-27483.5,-1564.7
$MHEAD_RNG_PITCHd_Wd,336.8,15379,-12.9,-7.021
$D_GRID,525
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,132,0.00,0.00,-114.45,0.000,2,0.000,0.000,166,2333,2810
$GC,135,-1.08,-146.0,3.3,-2.5,20,155,8.90,0.00,-6.95,0.000,6,0.269,0.000,2199,2331,3018
$GC,494,-0.74,-146.0,61.1,-12.9,83,500,0.22,2.25,0.00,0.000,4,0.178,0.058,2268,939,3023
$GC,591,-0.60,-146.0,71.4,-9.4,100,598,0.15,2.28,0.00,0.000,6,0.165,0.056,2310,2347,3023
$GC,935,-0.66,-146.0,95.1,-6.7,161,942,0.00,2.33,0.00,0.000,4,0.000,0.074,2310,3752,3023
$GC,1106,-0.81,-146.0,106.8,-7.3,178,1110,0.17,2.20,0.00,0.000,6,0.084,0.044,2246,2337,3023
$GC,1426,-0.70,-146.0,135.9,-9.1,194,1430,0.15,2.25,0.00,0.000,4,0.166,0.058,2285,927,3023
$GC,1498,-0.70,-146.0,142.2,-8.4,197,1502,0.00,2.28,0.00,0.000,6,0.000,0.055,2286,2346,3023
$GC,1825,-0.76,-146.0,164.1,-6.1,213,1828,0.00,2.33,0.00,0.000,4,0.000,0.072,2286,3757,3023
$GC,1916,-0.86,-146.0,170.0,-6.3,217,1920,0.15,2.22,0.00,0.000,6,0.092,0.044,2232,2334,3023
$GC,2247,-0.75,-146.0,196.5,-7.8,233,2249,0.15,0.00,0.00,0.000,6,0.163,0.000,2272,2334,3023
$GC,2556,-0.75,-146.0,216.2,-6.5,248,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2334,3023
$GC,2867,-0.81,-146.0,236.9,-6.9,263,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2334,3022
$GC,3175,-0.87,-146.0,256.6,-6.1,278,3180,0.10,2.25,0.00,0.000,4,0.109,0.059,2235,928,3022
$GC,3276,-0.75,-146.0,264.4,-7.4,282,3282,0.15,2.28,0.00,0.000,6,0.172,0.057,2273,2341,3022
$GC,3591,-0.83,-146.0,281.1,-5.2,298,3595,0.00,2.33,0.00,0.000,4,0.000,0.073,2273,3746,3021
$GC,3659,-0.95,-146.0,284.6,-5.5,301,3664,0.15,2.20,0.00,0.000,6,0.100,0.044,2220,2338,3021
$GC,3992,-0.86,-146.0,310.2,-8.3,317,3996,0.12,2.25,0.00,0.000,4,0.165,0.058,2253,932,3021
$GC,4081,-0.86,-146.0,317.4,-7.7,321,4085,0.00,2.28,0.00,0.000,6,0.000,0.056,2253,2345,3021
$GC,4407,-0.86,-146.0,339.7,-6.8,337,4411,0.00,2.33,0.00,0.000,4,0.000,0.072,2253,3749,3021
$GC,4565,-0.94,-146.0,351.1,-7.2,344,4569,0.00,2.20,0.00,0.000,6,0.000,0.044,2253,2341,3021
$GC,4892,-0.99,-146.0,372.3,-6.5,360,4896,0.12,2.25,0.00,0.000,4,0.102,0.056,2209,929,3021
$GC,4986,-0.84,-146.0,380.4,-8.4,364,4990,0.17,2.28,0.00,0.000,6,0.162,0.054,2255,2350,3021
$GC,5328,-0.90,-146.0,402.7,-6.6,380,5332,0.00,2.33,0.00,0.000,4,0.000,0.073,2255,3754,3021
$GC,5440,-1.01,-146.0,410.5,-6.8,382,5444,0.15,2.22,0.00,0.000,6,0.089,0.043,2202,2327,3021
$GC,5787,-0.91,-146.0,438.3,-8.0,391,5789,0.15,0.00,0.00,0.000,6,0.155,0.000,2243,2327,3021
$GC,6112,-0.91,-146.0,457.7,-5.8,399,6116,0.00,2.38,0.00,0.000,4,0.000,0.071,2243,3752,3022
$GC,6196,-0.97,-146.0,462.6,-5.8,400,6202,0.00,2.20,0.00,0.000,6,0.000,0.042,2243,2340,3022
$GC,6528,-1.02,-146.0,480.9,-5.6,409,6530,0.12,0.00,0.00,0.000,6,0.100,0.000,2196,2340,3022
$GC,6852,-0.91,-146.0,504.6,-7.4,417,6856,0.15,2.35,0.00,0.000,4,0.156,0.068,2236,3751,3023
$GC,6957,-0.91,-146.0,511.6,-6.7,419,6961,0.00,2.20,0.00,0.000,6,0.000,0.042,2236,2336,3023
$STATE,7181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7181,begin apogee
$GC,7187,-0.34,0.0,525.9,6.3,425,7319,0.43,0.00,129.70,1.239,6,0.148,0.000,2363,2519,2420
$STATE,7320,end apogee,CONTROL_FINISHED_OK
$STATE,7320,begin climb
$GC,7322,1.08,146.0,528.8,0.0,428,7467,1.08,0.00,136.35,1.135,6,0.112,0.000,2672,2519,1824
$GC,7789,0.94,146.0,491.2,9.2,440,7793,0.15,2.45,0.00,0.000,4,0.148,0.068,2632,3943,1820
$GC,7822,0.85,146.0,488.2,8.3,440,7828,0.00,2.33,0.00,0.000,6,0.000,0.041,2632,2511,1820
$GC,8152,0.85,146.0,464.0,7.3,449,8156,0.00,2.38,0.00,0.000,4,0.000,0.069,2633,3930,1820
$GC,8207,0.76,146.0,459.3,8.8,450,8212,0.12,2.22,0.00,0.000,6,0.152,0.042,2599,2518,1820
$GC,8526,0.90,166.3,438.9,6.3,458,8546,0.12,0.00,17.50,1.141,6,0.081,0.000,2651,2518,1742
$GC,8888,0.90,166.3,410.6,7.7,467,8892,0.00,2.35,0.00,0.000,4,0.000,0.068,2651,3943,1741
$GC,8921,0.77,166.3,407.8,8.6,467,8926,0.17,2.22,0.00,0.000,6,0.145,0.042,2601,2521,1740
$GC,9240,0.97,208.8,389.7,5.6,479,9283,0.15,2.42,35.78,1.156,4,0.075,0.069,2663,3929,1567
$GC,9288,0.99,227.5,386.2,6.4,481,9310,0.00,2.28,17.15,1.068,6,0.000,0.041,2662,2519,1492
$GC,9632,0.99,227.5,358.9,8.0,498,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2519,1489
$GC,9940,0.99,227.5,334.1,8.2,513,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2519,1488
$GC,10250,0.99,227.5,308.2,8.5,528,10254,0.00,2.33,0.00,0.000,4,0.000,0.069,2663,3930,1488
$GC,10260,0.99,227.5,307.2,8.4,528,10264,0.00,2.22,0.00,0.000,6,0.000,0.042,2663,2520,1488
$GC,10581,0.99,227.5,281.0,7.5,544,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2519,1488
$GC,10890,1.00,231.7,258.5,6.9,559,10900,0.00,2.25,4.50,0.795,4,0.000,0.057,2662,1109,1475
$GC,10906,1.06,237.8,257.5,6.8,559,10918,0.00,2.25,6.88,0.927,6,0.000,0.051,2663,2525,1450
$GC,11241,1.12,240.9,234.5,6.9,576,11247,0.00,0.00,4.53,0.790,6,0.000,0.000,2663,2525,1437
$GC,11549,1.20,252.8,213.6,6.6,591,11570,0.12,2.38,11.40,1.019,4,0.077,0.070,2718,3930,1388
$GC,11576,1.11,252.8,211.3,8.9,592,11580,0.15,2.22,0.00,0.000,6,0.147,0.042,2677,2519,1388
$GC,11901,1.11,252.8,187.2,7.3,608,11905,0.00,2.25,0.00,0.000,4,0.000,0.056,2676,1110,1388
$GC,11912,1.16,252.8,186.4,7.4,608,11916,0.00,2.28,0.00,0.000,6,0.000,0.051,2677,2532,1388
$GC,12233,1.22,252.8,162.7,7.1,624,12235,0.10,0.00,0.00,0.000,6,0.084,0.000,2720,2532,1387
$GC,12542,1.14,252.8,136.8,8.4,639,12544,0.15,0.00,0.00,0.000,6,0.131,0.000,2675,2532,1387
$GC,12852,1.24,258.1,115.8,6.8,654,12860,0.12,0.00,5.62,0.872,6,0.080,0.000,2728,2532,1368
$GC,13171,1.18,258.1,86.7,8.8,687,13177,0.15,0.00,0.00,0.000,6,0.130,0.000,2683,2532,1367
$GC,13515,1.29,279.0,64.0,6.3,748,13540,0.12,2.40,18.62,1.034,4,0.076,0.073,2735,3935,1281
$GC,13546,1.29,279.0,61.6,7.2,753,13552,0.00,2.25,0.00,0.000,6,0.000,0.044,2735,2522,1280
$GC,13889,1.34,279.0,32.5,7.7,814,13896,0.00,2.35,0.00,0.000,4,0.000,0.071,2735,3930,1278
$GC,13981,1.29,279.0,25.5,7.4,830,13988,0.00,2.22,0.00,0.000,6,0.000,0.045,2735,2515,1277
$GC,14326,1.32,303.1,3.1,6.2,891,14344,0.00,0.00,16.98,0.995,2,0.000,0.000,2735,2515,1198
$STATE,14345,end climb,SURFACE_DEPTH_REACHED
$STATE,14345,begin surface coast
$FINISH,0.9,1.024543
$STATE,14373,end surface coast,CONTROL_FINISHED_OK
$STATE,14373,begin surface
$SM_CCo,14449,0.00,0.000,0,0,1193,300.98
$SM_GC,1.65,7.30,0.00,0.00,0.074,0.000,0.000,162,2342,1193,-10.39,0.06,300.98
$RAFOS_CLK,821
$RAFOS,4,1224679454,12.750000,12.737223,75,65,61,59,58,55,812,214,179,136,191,223
$RAFOS,3,1224678853,12.583333,12.570278,115,67,63,57,52,51,728,184,195,169,204,140
$RAFOS,2,1224678243,12.416667,12.400833,75,65,56,52,52,50,981,213,148,171,192,224
$RAFOS,1,1224677645,12.250000,12.234722,82,62,59,59,59,59,741,216,169,190,204,126
$RAFOS,0,1224677042,12.083333,12.067223,96,66,59,58,54,49,590,207,146,219,172,163
$RAFOS_FIX,6641.522461,-6017.607910,221008,121214,5,89,0.99
$IRIDIUM_FIX,6609.62,-6021.37,160198,070705
$TT8_MAMPS,0.027612
$HUMID,1895
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,21.3,41.919
$10V_AH,10.5,17.683
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.750,101.025,405.000,0.000,0.000,32.993,42.297,112.826,0.250,0.000,0.000,11.366,1632.381,10523.731,562.576,1669.264,376.523,33.370,1449.276,0.000,1648.995,1800.000,0.532,0.000
$DEVICE_MAMPS,269.217,76.700,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.670,613.350,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31540,899
$CAP_FILE_SIZE,117881,0
$CFSIZE,260165632,235266048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.5
$GPS,221008,153408,6641.541,-6026.378,28,1.0,28,-38.0